function [ weight ] = AssignWeight( z_counter,grade )
% assign weight to measurements

    % option1: weighting only considering number of measurement
    weight = z_counter;
    
    % option2: weighting considering number of measurement and road grade       
    % assign less weight to measurements acquired at high road grade (on a
    % log scale)
    %       weight = z_counter*(1/(log(grade+1)+0.01)); 
end

